EP2494229B1 - Actionneur hydrostatique - Google Patents

Actionneur hydrostatique Download PDF

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Publication number
EP2494229B1
EP2494229B1 EP10795194.9A EP10795194A EP2494229B1 EP 2494229 B1 EP2494229 B1 EP 2494229B1 EP 10795194 A EP10795194 A EP 10795194A EP 2494229 B1 EP2494229 B1 EP 2494229B1
Authority
EP
European Patent Office
Prior art keywords
housing
hydrostatic actuator
pressure
sleeve
electric motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP10795194.9A
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German (de)
English (en)
Other versions
EP2494229A1 (fr
Inventor
Viktor Franz
Matthias Ehrlich
Norbert Esly
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Publication of EP2494229A1 publication Critical patent/EP2494229A1/fr
Application granted granted Critical
Publication of EP2494229B1 publication Critical patent/EP2494229B1/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D29/00—Clutches and systems of clutches involving both fluid and magnetic actuation
    • F16D29/005—Clutches and systems of clutches involving both fluid and magnetic actuation with a fluid pressure piston driven by an electric motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/38—Control circuits or drive circuits associated with geared commutator motors of the worm-and-wheel type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D25/00—Fluid-actuated clutches
    • F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
    • F16D2025/081—Hydraulic devices that initiate movement of pistons in slave cylinders for actuating clutches, i.e. master cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H25/2252—Planetary rollers between nut and screw
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K17/00—Asynchronous induction motors; Asynchronous induction generators
    • H02K17/02—Asynchronous induction motors
    • H02K17/32—Structural association of asynchronous induction motors with auxiliary mechanical devices, e.g. with clutches or brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/108—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction clutches

Definitions

  • the invention relates to a Hydrostataktor with a master cylinder containing a housing and an axially displaceable in the housing, a pressure medium filled pressure chamber with pressure acting piston, with a rotary drive in an axial movement changing Planetendoilzgetriebe with a sleeve, a gear spindle and between these rolling planetary rolling elements and with an electric motor driving the Planetenracelzgetriebe with a stator fixed to the housing and a rotatable relative to this rotor.
  • a generic Hydrostataktor is from the DE 197 00 935 A1 known.
  • a piston of a master cylinder is driven by means of an electric motor, wherein the rotational movement of the electric motor is converted by means of a transmission in the form of a worm gear in an axial movement.
  • the piston is driven by means of an eccentric pin arranged on the worm wheel.
  • DE 102006014866 A1 also shows a generic Hydrostataktor.
  • the object of the invention in an improvement and further development of Hydrostataktoren preferably used in motor vehicles in particular against the background of an increase in efficiency, reducing the space requirement and increasing the operating pressure of the master cylinder.
  • a Hydrostataktor with a master cylinder containing a housing and an axially displaceable in the housing, a pressure medium filled pressure chamber with pressure acting piston, with a rotary drive in an axial movement changing Planetendoilzgetriebe with a sleeve, a gear spindle and between these rolling planetary rolling and with the planetary gear driving electric motor with a housing fixedly connected stator and one opposite to this solved rotatable rotor, wherein the pressure chamber is annular and the Planetendoilzgetriebe is arranged radially within the pressure chamber.
  • the Planetenannalzgetriebe is arranged in the rotor of the electric motor.
  • the present proposed accommodation of the Planetenracelzgetriebes radially within the pressure chamber over this alternative embodiment has the advantage that a Hydrostataktor can be proposed with a small diameter.
  • the reason for this is that the alternative nested training with rotor and Planetenannalzgetriebe requires more space than the present case provided nested formation of Planetenannalzgetriebe and master cylinder, especially when the sleeve of the Planetenannalzgetriebes substantially corresponds to the stroke of the piston.
  • the electric motor and the planetary gear are furthermore arranged axially spaced from each other coaxially.
  • the diameter of the electric motor can be adapted to the diameter of the master cylinder, so that it is equal to or smaller than the diameter of the master cylinder.
  • the sleeve is arranged radially inside the annular pressure chamber, the interior space available for the rotor can be made small and the electric motor can be made comparatively strong for a given diameter. Since the surface portion of the radially outwardly arranged on the housing of the master cylinder pressure chamber is only slightly less compared to a solid surface with a small radially inner surface portion, the space lying radially within this space can be used for the sleeve.
  • the Hydrostataktor is suitable as controlled by a control unit encoder for providing a predetermined pressure via a pressure port in the pressure chamber and a pressure line to a slave for axial displacement of components such as a slave cylinder of an on or zugeclaren in a drive train of a motor vehicle, for example, between an internal combustion engine and a transmission disposed friction clutch, a gear arranged in a transmission shaft or shift drum for shifting gears, a brake cylinder for actuating brakes and the like.
  • a control unit encoder for providing a predetermined pressure via a pressure port in the pressure chamber and a pressure line to a slave for axial displacement of components such as a slave cylinder of an on or zugeclaren in a drive train of a motor vehicle, for example, between an internal combustion engine and a transmission disposed friction clutch, a gear arranged in a transmission shaft or shift drum for shifting gears, a brake cylinder for actuating brakes and the like.
  • the housing of the master cylinder and the housing of the electric motor are integrally formed by these, for example by means of a casting process such as die-casting, for example when using aluminum or other light metals and their alloys, or injection molding, for example when using plastic, are made. Due to the one-piece design of the housing, the number of units is lowered and increases the stability of the two housings with the pressure between the master cylinder and the electric motor due to the support of the piston on the housing when the pressure chamber.
  • a reservoir for the storage of pressure medium which is exchanged, for example, in the relaxed state of the piston at pressure medium loss in the hydraulic system between master cylinder, pressure line and slave cylinder or temperature fluctuations between the pressure chamber and reservoir, is integrated into the Hydrostataktor without increasing the space in a significant way.
  • the diameter of the master cylinder can be adapted to the diameter of the electric motor, wherein the reservoir is provided in an annular space radially outside the pressure chamber.
  • the annular space may be cut by a hollow cylinder lying along the axis of rotation, in which a connection for a separate and / or further reservoir is provided, for example in the case of an unfavorable inclination of the Hydrostataktors when accommodated in a motor vehicle or a bellows for pressure equalization with the environment may be to compensate for pressure differences between the reservoir and thus also the pressure chamber in the unloaded state and the environment.
  • the length of the Hydrostataktors can be designed for the threaded spindle without stroke, the stroke of the sleeve is identical to the stroke of the piston, so that even by the axial displacement of the sleeve, the axial space does not increase and a compact hydrostatic actuator can be proposed.
  • a sensor device is provided in the Hydrostataktor that detects at least one rotational movement of the gear spindle.
  • the sensor device may comprise sensors which detect an analog angle as Hall sensors or the number of magnetic pulses via an angle of rotation of the gear spindle as incremental sensors, the angle being determined from the number of detected magnetic pulses.
  • suitable measures can be taken, for example a stop detected by the control unit can be provided.
  • the Hall sensors are formed from a preferably fixed to the housing as a result of better wiring possibility and one or more arranged on this movable component Sensiermagneten. In this way, according to the number of distributed over the circumference of the gear spindle Sensiermagneten, or formed from these, magnetic pulse generating magnetic segments sufficient angular resolutions of the angle of rotation of the gear spindle mögfich.
  • At least one sensor for detecting operating data of the hydrostatic actuator is arranged on a board of the on-site electronics.
  • the board can be arranged directly on an optimal placement of the sensor or if in this area such a space is not available, a non-electronic size for determining the signal, such as a mechanical or intrinsic physical size in the area of the placed board are performed ,
  • the determination of the stroke of the sleeve or of the piston has proven to be advantageous for example by means of a Hall sensor.
  • a corresponding sensor can be provided directly in the region between the housing and the piston or sleeve, wherein the cables are routed in the housing to an optionally present on-site electronics for signal conversion or out of the housing.
  • the sensor is placed in the vicinity or on the suburb electronics and the movement of the piston or sleeve by means of a linkage to Sensor is transmitted.
  • an optional slip of the planetary gear can be determined and compensated.
  • the pressure of the pressure chamber can be detected by means of a pressure sensor.
  • a pressure sensor In order to be able to detect the pressure directly by means of a arranged on a spatially away from the pressure chamber board of a suburb electronics pressure sensor, may be provided in the housing, in particular in a one-piece housing of the master cylinder and the electric motor, a connection bore to the pressure chamber, extending to the on-site electronics extends.
  • the on-site electronics may be provided on a side facing away from the master cylinder of the housing of the electric motor or placed in a non-required free space of the housing or the housing of Hydrostataktors.
  • the on-site electronics is arranged in the region of a lid or in this, which closes the housing of the electric motor after the assembly of the electric motor and the components mounted from this side.
  • a plug connection to the control unit can be provided in the cover or in the housing. be.
  • FIG. 1 shows the Hydrostataktor 1 in three-dimensional view with the one-piece formed from the housing of the electric motor 2 and the housing of the master cylinder housing 3 and the housing portion 4 with the Reservoirdom 5, by means of the cap 6 with the Pressure equalization opening 7 is closed.
  • the closed by means of the further cap 11 mounting opening 12 is used for the assembly of components and the functional test in particular the sensor of the Hydrostataktors.
  • the housing portion has on the inside a bearing for receiving the gear spindle and is externally reinforced by the reinforcing ribs 13.
  • the housing section 4 may be made of the materials light metals such as aluminum and their alloys or of plastic by means of a pressure or injection molding process.
  • FIG. 2 shows the Hydrostataktor the FIG. 1 in plan view with the housing section 4 with the reservoir 5 and the mounting opening 12 as well as on the housing 3 ( FIG. 1 ) fastened holder 8 and the pressure port 9.
  • the section lines AA, BB, CC give the cut surfaces in the Figures 3 . 4 . 5 shown sections of Hydrostataktors again.
  • FIG. 3 shows the Hydrostataktor 1 in section along the section line AA FIG. 2 with the one-piece housing 3 formed from the housing 14 of the electric motor 2 and the housing 15 of the master cylinder 16 and the housing section 4 fastened thereto, for example screwed, pressed or welded.
  • the stator 17 of the electric motor 2 is received radially on the inside of the centering sleeve 18, which at the same time takes over the centering and mounting of the gear spindle 19 by means of the axially formed bearing dome 20.
  • the stator 17 is clamped axially between the bearing plate 21 and the centering sleeve 18 and rotatably received in this.
  • the centering sleeve 18 axially fixes the bearing disk 21 to the stop 22 of the housing 3 and is itself fixed axially by means of the stop disk 23 and the cover 24 connected to the housing 3 as screwed.
  • the bearing sleeve 26 is by means of the bearing plate 21st recorded axially fixed and rotatable.
  • thrust bearings 27 - here needle roller bearings - arranged on both sides of the bearing disc 26, on the one hand with the annular flange 28 of the bearing sleeve 26 and on the other hand with the rotor 25 which is axially fixed on the bearing sleeve 26 by means of the lock washer 29, form a bearing seat.
  • the bearing sleeve 26 is rotatably connected to the gear spindle 19, for example, shrunk onto this, so that the radial centering of the bearing sleeve 26 and thus of the rotor 25 by means of the radial bearing 30 via the centering sleeve 18 on the housing 3 and the axial bearing of the gear spindle 19 on the housing the bearing plate 21 takes place.
  • the second mounting of the gear spindle 19 takes place by means of the radial bearing 31 in the bearing dome 32 of the housing section 4th
  • the Planetenannalzgetriebe 33 is arranged, which is formed by the gear spindle 19, the sleeve 34 and the rolling off between these Planetendoilz Sciences 35.
  • the PlanetenannalzSystem For the conversion of the offset from the rotor 25 in a rotary motion transmission spindle 19 in an axial movement of the sleeve 34 are the Planetenracelz analyses with a toothing 36 which meshes by means of a coarse toothing 37 of the sleeve 34, and with a fine thread 38, with the external thread 39th the transmission sleeve meshes, equipped.
  • the master cylinder 40 is shown in a fully actuated state, that is, the piston 41 is displaced to build up pressure in the direction of the electric motor 2, which is equivalent to a pulled arrangement of the piston 41, so that a power circuit of the compressive forces outside the electric motor comes about and as a result can be operated substantially free of axial forces.
  • the force applied axially by the Planetenracelzgetriebe 33 to displace the piston 41 is from the bearing disc 21 supported on the housing 3, the pressure exerted by the piston 41 on the pressure chamber 42 pressure force is also introduced into the housing 3, so that a short power cycle is formed with low elasticity.
  • the sleeve 34 is received in the housing 15 secured against rotation and guided.
  • the longitudinal guide 48 is provided between sleeve 34 and housing 15, which may be formed from one or more circumferentially distributed longitudinal grooves, in which complementary longitudinal springs radially engage.
  • the longitudinal guide 48 may be slightly helical, beispielswese a small angle in the circumferential direction, for example, a few degrees have.
  • a structural unit can be formed, which is inserted into the housing 3 from one side and then the housing is closed from this side by means of the lid 24. From the other side of the master cylinder 40 is mounted, wherein the piston 41 at least axially fixedly connected to the sleeve 34, for example, caulked, locked or hooked into this.
  • FIG. 4 shows the Hydrostataktor 1 along the section line BB of FIG. 2 on average. From this intersection angle, the arrangement of the reservoir 49 for the operation of the hydraulic system, in which the hydrostatic actuator 1 is integrated via the pressure chamber 42, becomes clear.
  • the reservoir 49 extends radially outside the pressure chamber 42 in the housing section 4 and is limited by means of the bearing ring 46.
  • An exchange of the volumes of the reservoir 49 and the pressure chamber 42 takes place in the rest position of the piston 41, which is shown here in the fully actuated state. In the rest position, the piston 41 is radially displaced so far in the direction of the bearing dome 32 that this passes the U-ring seal 43 and the reservoir 49 is connected via one or more provided in the casserole 46 channels 50 with the pressure chamber 42.
  • so-called Schnüffelnuten 51 may be provided in the piston.
  • the Reservoirdom 5 With the reservoir 49 of the Reservoirdom 5 is connected to not shown point, for example by means of openings.
  • the Reservoirdom 5 has the bellows 52 which on one side with the reservoir 49 and on the other side via the pressure equalization opening 7 with the environment communicates so that a pressure difference of the reservoir 49 and the environment is compensated.
  • FIG. 5 shows the Hydrostataktor 1 along the section line CC of FIG. 2 with regard to the sensor device 54, which is arranged on the on-site electronics 55, which is formed at least from an electronic board 56 on which the necessary electronic components for controlling and powering the electric motor 2, the processing and / or transmission of the measured signals detected by the sensors are, can be arranged.
  • the on-site electronics 55 has a port 57, which may be passed through the housing 3 or the cover 24, and includes signal and supply lines and is connected to an external control device.
  • the on-site electronics 55 is arranged and fixed between the centering sleeve 18 and the cover 24.
  • the pressure sensor 58 is received on the board 56, with the extension of the 53 as connecting bore of the FIG. 4 detected pending pressure and the extension 53 seals.
  • the rotational angle sensor 59 arranged on the circuit board 56 detects the rotational angle of the gear spindle 19.
  • the rotational angle encoder 59 can be a Hall sensor, wherein the associated sensing magnet 60 is arranged on the gear spindle 19.
  • the linkage 61 is connected to this as hooked or locked, which is guided axially in the guide 62 of the housing portion 4 and is brought up to the board 56, so that the only hinted, recorded on the board 56 , Axialwegsensor 63 extending in the space 3 formed in the housing 3 extending the axial travel of the piston 41 spatially and axially spaced to this.
  • the Axialwegsensor 63 is preferably designed as a Hall sensor and detects the Axialweg depending on the distance of the mounted on the rod 61 Sensiermagnenten 64.
  • the sealed by means of the cap 11 mounting opening 12 is provided in the housing portion 4.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Braking Systems And Boosters (AREA)
  • Actuator (AREA)
  • Retarders (AREA)
  • Hydraulic Motors (AREA)
  • Transmission Devices (AREA)

Claims (10)

  1. Actionneur hydrostatique (1) comprenant un maître-cylindre (40) incluant un boîtier (15) et un piston (41) positionnable dans le sens axial dans le boîtier (15), lequel applique une pression à une chambre de compression (42) remplie d'un fluide de pression, comprenant un engrenage à rouleaux planétaires (33) qui convertit un entraînement rotatif en un mouvement axial, avec une douille (34), une broche d'engrenage (19) et des corps de rouleaux planétaires (35) qui roulent entre celles-ci ainsi qu'avec un moteur électrique (2) entraînant l'engrenage à rouleaux planétaires (33), lequel comprend un stator (17) fixé à demeure au boîtier et un rotor (25) qui peut tourner par rapport à celui-ci, caractérisé en ce que la chambre de compression (42) est réalisée en forme d'anneau et l'engrenage à rouleaux planétaires (33) est disposé dans le sens radial à l'intérieur de la chambre de compression (42).
  2. Actionneur hydrostatique (1) selon la revendication 1, caractérisé en ce que le moteur électrique (2) et l'engrenage à rouleaux planétaires (33) sont disposés de manière coaxiale et espacés axialement l'un de l'autre.
  3. Actionneur hydrostatique (1) selon la revendication 1 ou 2, caractérisé en ce que le boîtier (15) du maître-cylindre (40) et le boîtier (14) du moteur électrique (2) sont réalisés d'une seule pièce.
  4. Actionneur hydrostatique (1) selon l'une des revendications 1 à 3, caractérisé en ce qu'un réservoir (49) est prévu pour le fluide de pression dans le sens radial à l'extérieur de la chambre de compression (42).
  5. Actionneur hydrostatique (1) selon l'une des revendications 1 à 4, caractérisé en ce que la douille (34) est logée en rotation solidaire et positionnable dans le sens axial et le piston (41) est positionné dans le sens axial par la douille (34).
  6. Actionneur hydrostatique (1) selon l'une des revendications 1 à 5, caractérisé en ce que dans l'actionneur hydrostatique (1) est prévu un dispositif de détection (54) qui capte au moins un mouvement de rotation de la broche d'engrenage (19).
  7. Actionneur hydrostatique (1) selon la revendication 6, caractérisé en ce que le dispositif de détection (54) capte une course axiale du piston (41).
  8. Actionneur hydrostatique (1) selon la revendication 6 ou 7, caractérisé en ce que le dispositif de détection (54) capte une pression dans la chambre de compression (42).
  9. Actionneur hydrostatique (1) selon l'une des revendications 6 à 8, caractérisé en ce qu'une électronique locale (55) est prévue sur le côté du boîtier (14) du moteur électrique (2) qui est à l'opposé du maître-cylindre (40).
  10. Actionneur hydrostatique (1) selon la revendication 9, caractérisé en ce qu'au moins un détecteur destiné à capter des données opérationnelles de l'actionneur hydrostatique (1) est disposé sur une platine (56) de l'électronique locale (55).
EP10795194.9A 2009-10-29 2010-10-07 Actionneur hydrostatique Active EP2494229B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009051245 2009-10-29
PCT/DE2010/001185 WO2011050767A1 (fr) 2009-10-29 2010-10-07 Actionneur hydrostatique

Publications (2)

Publication Number Publication Date
EP2494229A1 EP2494229A1 (fr) 2012-09-05
EP2494229B1 true EP2494229B1 (fr) 2013-07-24

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Application Number Title Priority Date Filing Date
EP10795194.9A Active EP2494229B1 (fr) 2009-10-29 2010-10-07 Actionneur hydrostatique

Country Status (8)

Country Link
US (1) US8490391B2 (fr)
EP (1) EP2494229B1 (fr)
JP (1) JP5738302B2 (fr)
KR (1) KR101764938B1 (fr)
CN (1) CN102575729B (fr)
DE (2) DE102010047801A1 (fr)
RU (1) RU2553618C2 (fr)
WO (1) WO2011050767A1 (fr)

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EP3126696B1 (fr) 2014-04-02 2018-11-14 Schaeffler Technologies AG & Co. KG Concept d'actionneur modulaire pour actionneur d'embrayage

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US20120241281A1 (en) 2012-09-27
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